CN102874433A - Device and method for stacking stackable pieces - Google Patents
Device and method for stacking stackable pieces Download PDFInfo
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- CN102874433A CN102874433A CN2012102425897A CN201210242589A CN102874433A CN 102874433 A CN102874433 A CN 102874433A CN 2012102425897 A CN2012102425897 A CN 2012102425897A CN 201210242589 A CN201210242589 A CN 201210242589A CN 102874433 A CN102874433 A CN 102874433A
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- stacking
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- stacking robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
An apparatus for the stacking of stackable parts with a conveyor station with at least one conveyor on which the parts may be transported separately, and at least one stacking container in which the parts may be stacked wherein, a stacking device is provided, which takes parts from the conveyor of the conveyor station and stacks them in the stacking container. The stacking device has at least one pair of stacking robots operating independently of one another, wherein the stacking robots alternately or simultaneously take up parts from the conveyor and are so controlled by a control unit that a first and/or second stacking robot takes up at least one part from the conveyor, while simultaneously the second and/or first stacking robot transfers to or stacks in the stacking container used by both stacking robots a part already picked up.
Description
Technical field
The present invention includes a kind of for stacking stackable parts, the device of blanked part (Pressteil) in particular, its with: with the feed station of at least one delivery track, the mode that can separate on delivery track is transported (antransportieren) parts; And at least one stacking container (Stapelbeh lter), parts can be piled in (einstapeln) this stacking container, wherein, in order to transport parts between feed station and stacking container stacker mechanism is set, this stacker mechanism is picked up (aufnehmen) parts and its heap is entered in the stacking container from the delivery track of feed station.
Background technology
For a long time, known such stacker mechanism in the field of automatic technique in particular.For example it is used in stamping line, picks up by means of the blanked part (this blanked part arrives stacker mechanism by feed station) of compression machine distortion and with blanked part and piles in the stacking container for its setting.
The multiple position press (Transferpresse) or the deformation pressure machine (Umformpresse) that are applied in the stamping line of press workshop have specific impulse voltage power (spezifische Pressenleistung), and it can stroke (Hub)/minute expression.Therefore, known 17 stroke multiple position presses for example, they can 17 one piece components of per minute 17 stroke punching presses, two pieces type parts (Doppelteil) or four formula parts (Vierfachteil).Therefore, the demand that exists is that rearmounted stacker mechanism has so stacking power, namely, the punching press power of this stacking power and multiple position press is complementary, obviously higher in particular, thereby can be successfully in the situation of blocking without parts, blanked part be piled in the stacking container for its setting.
Summary of the invention
Therefore purpose of the present invention is, realize the apparatus and method of the type that beginning is mentioned, utilize this device or utilize the method can improve with respect to prior art the quantity of stackable parts, in certain time interval, can pick up these parts and these parts can be piled in the stacking container for its setting from delivery track.
This purpose is utilized with the device that is used for stacking stackable parts of the feature of independent claims 1 with the method that is used for stacking stackable parts of the feature of independent claims 8 and is realized.Improvement project of the present invention is shown in the dependent claims.
Device for stacking stackable parts according to the present invention is outstanding therefrom, namely, stacker mechanism has at least one, the stacking robot pair that comprises two stacking robots of irrespectively working each other, wherein, stacking robot alternately or is simultaneously picked up parts and is so controlled stacking robot by control mechanism from delivery track, namely, the first and/or second stacking robot is picked up at least one parts from delivery track, and the second and/or first stacking robot is transported to the parts that picked up the stacking container place that is used by two stacking robots or piles this place simultaneously, wherein, when picking up parts by the first and second stacking robots at the same time, carrying out at two different places, stacking space simultaneously, heap enters in the common stacking container.
Therefore, two right stacking robots of stacking robot are piled parts in identical, the common stacking container.Preferably, pick up the position or pick up parts at tight side by side the position of picking up from the delivery track that is configured to aptly load-transfer device delivery track place identical by right two the stacking robots of stacking robot.Possible is, two right stacking robots of stacking robot are alternately worked, and that is to say, when the first stacking robot was picked up parts from delivery track, the second stacking robot was with in the parts stacking container of having been picked up, and vice versa.In this case, the first and second stacking robots can grasp at the identical position of picking up at load-transfer device place.Alternatively possiblely be, two right stacking robots of stacking robot are worked in the mode of upper dislocation of time, that is to say that when the first stacking robot was picked up parts from delivery track, the parts that the second stacking robot will have been picked up were transported to stacking container place.Therefore, in this case, do not pick up simultaneously and pile into, but pick up and transport.Possiblely in addition be, right two the stacking robots of stacking robot differ from one another, but parts are picked up at the position of picking up closely side by side simultaneously, and simultaneously in two different stacking spaces (it also can be called as so-called nest (Nester)) are located by the stacking container.In the first flexible program (therein stacking robot alternation), can synchronously control stacking robot.Avoided thus standing time, that is to say, any of stacking robot all needn't wait for, but before himself implementation campaign correspondingly another stacking robot implemented the working motion of another stacking robot.In the 3rd flexible program (picking up simultaneously two different parts by two stacking robots therein), can avoid standing time equally.Generally speaking, with prior art (for example use therein on two spaces relative to each other away from stacking robot, its heap enters in different stacking containers so) compare and improved significantly the stacking power that is equipped with the right stacker mechanism of at least one stacking robot, because eliminated in particular the time that is used for parts are continued transported to the second stacking robot place after being arranged in by contrast at this.
In improvement project of the present invention, a plurality of stacking robots pair are set, these a plurality of stacking robots are to being associated with respectively the special-purpose stacking container that jointly uses by two right stacking robots of corresponding stacking robot when heap enters parts.By there being a plurality of stacking robots pair, also can further improve the stacking power of stacker mechanism.
Stacking robot is to can in series arranging along common delivery track.At this, on throughput direction, the stacking robot after the stacking robot that is at first arrived by parts is used for being arranged in to can let pass (durchlassen) to can pile into parts.When the right stacking robot of stacking robot is alternately worked, that is, in the right situation of two stacking robots of one after the other arranging, each second component of can letting pass, and continue to transport it into stacking robot after being arranged in to locating.
Not excessive for the scantling of structure of stacker mechanism on throughput direction, suitable is, stacking robot in parallel pair, and make it be distributed in a plurality of being parallel on the delivery track or feed station of arranging each other.Therefore, the mode that can separate is transport section at least two between the delivery area delivery tracks that stretch in parallel with each other.
In improvement project of the present invention, at least one stacking robot pair is associated with a plurality of stacking containers, at every turn only load in a plurality of stacking containers one at fashionable two stacking robots right by stacking robot of heap, and other stacking container is arranged in holding fix in the mode of unloaded.That is to say that the right stacking robot of stacking robot at first loads a common stacking container, after loading, this stacking container is transported so.In this case, two right stacking robots of stacking robot can not have approaching being arranged on another stacking container of holding fix in the situation of standing time.Therefore, needn't wait for until replace the stacking container that has loaded by the stacking container of unloaded.Can one after the other arrange along delivery track the stacking container that is associated with stacking robot.Alternatively possible is that the stacking container is arranged in delivery track left side and right side.
Aptly, stacker mechanism has traveling mechanism to be used for that the stacking container is travelled between " loaded " position and replacing position, and the stacking container replacement by unloaded in changing the position is mounted with the stacking container of piling the parts that enter.Therefore, can automatically carry out changing the stacking container that has loaded by the stacking container of unloaded.
In improvement project of the present invention, two stacking robots are configured to respectively multiaxis curved boom robot (Mehrachs-Knickroboter), it is with at least four axiss of oscillation, and wherein the first vertical axis of oscillation makes the hunting motion that occurs between delivery track and stacking container become possibility.By at least four axis, accurately feeding of stacking robot location (zustellen) is possible to the parts place that is transferred at delivery track and stacking container place, so that pick up parts by means of the stroke movement that limits afterwards or put it in the stacking container.Aptly, use five axles, six axles or even seven axle curved boom robots.
Possible is that stacked load has linear guide mechanism to be used for two stacking robots of on even keel linear guide.Thus, two stacking robots for example after the loading process of stacking container finishes wheeled to another stacking container place that is arranged in holding fix.Therefore, stacking robot can have at least one additional linear axis, thus, also can cross over the not spacing between delivery track and stacking container in the hunting range of corresponding stacking robot by means of swing and the motion of translation of combination.If the right stacking container of stacking robot is one after the other arranged along delivery track, two stacking robots are for example travelled at directions X.Yet if stacking robot is positioned at delivery track left side and right side, the cross motion of stacking robot on Y-direction also is possible.
Possible is that at least one of robot is arranged in the load carrier place in the mode that hangs.Advantageously, arrange two robots in the mode that hangs.Yet alternatively, be erected to arrange that at least one stacking robot also is possible.
In addition, the present invention includes a kind ofly for stacking stackable parts, the method for blanked part in particular, it is step and outstanding by the following method:
-transportation is placed in parts at least one delivery track in the mode of separating,
-by means of the stacking robot that comprises two stacking robots of working independently of each other to from delivery track, picking up parts, wherein, the first stacking robot picks up parts from delivery track, and simultaneously by and the second stacking robot of irrespectively working of the first stacking robot by the parts stacking container of having been picked up or be transported to stacking container place or between delivery area, picking up another parts at least, wherein, in the situation of transporting, this motion of transporting by means of the swing that comprises the second stacking robot realizes
-by comprising the first stacking robot swing transport motion will be transported to by the parts that the first stacking robot is picked up the stacking container (heap enter or the situation of transporting in used this stacking container by the second stacking robot) locate, and simultaneously in another parts stacking container that will be picked up of the second stacking robot or another parts that return or will be picked up in the mode of unloaded be transported to stacking container place
In-parts stacking the container that will be picked up by the first stacking robot, and simultaneously the second stacking robot is picked up another parts from delivery track, and another parts that return or will be picked up in the mode of unloaded enter at another place, stacking space heap that identical artificial heap enters and in the stacking container that uses by the first stacking machine.
Description of drawings
In preferred embodiment of the present invention shown in the drawing, and following these embodiment are explained in detail.In drawing:
Fig. 1 shown with multiple position press with according to the lateral plan of the part of the stamping line of the device for stacking stackable parts of the present invention,
Fig. 2 has shown the cross-sectional plane that passes the device that is used for stacking stackable parts of Fig. 1 transverse to throughput direction,
Fig. 3 has shown the lateral plan according to the first embodiment of device of the present invention,
Fig. 4 has shown the birds-eye view of the device of Fig. 3,
Fig. 5 has shown the lateral plan according to the second embodiment of device of the present invention, and
Fig. 6 has shown the birds-eye view of the device of Fig. 5.
The specific embodiment
Fig. 1 has shown the part of stamping line 11, usually is applied in the automatic technique such as it, and is for example such as the part of the press workshop in auto-industry.Stamping line 11 comprises multiple position press 12, and it makes the parts of plate shape, in particular sheet metal (Metallblechplatinen) distortion.Provide the punching press power of this multiple position press 12 with strokes/minute.Therefore, for example 17 stroke multiple position presses 12 can carry out 17 strokes and in 17 single-pieces that are stamped of this punching press in one minute.For example but punching press is as the sidewall of the self-propelled vehicle of single-piece, as shown in Fig. 4 and 6.Yet utilize this multiple position press same possible be that punching press two pieces type parts are namely for example with 17 two parts 13 of 17 stroke punching presses.At last, same possible is to produce four formula parts.
From multiple position press 12, takes out by taking out robot 15 by means of parts 13 multiple position press 12 punching presses, stackable (following it only is called parts 13 for the simplicity reason), and be placed on the delivery track 16 of feed station 17 by the hunting motion (as might be combined with motion of translation) of taking-up robot 15.As in particular shown in Fig. 2 to 6, feed station 17 has two delivery tracks 16 with the form of load-transfer device that stretch in parallel with each other, parts are put on the delivery track 16 and on this delivery track 16 continue transfer unit in the mode of separating by means of taking out robot 15.
Afterwards, parts 13 check the quality of the deformation process that causes by means of multiple position press 12 therein by check interval 18.Sort out bad parts in this punishment.
After by check interval 18, parts 13 arrive device 19 places that are used for stacked components 13.With the feed station 17 of two load-transfer devices 16 part for this device 19.
As showing among Fig. 1 to 6 that like that, device 19 comprises stacker mechanism 20 in particular, it enters in the stacking container 21 from load-transfer device taking-up parts 13 and with its heap.
As in particular shown in Fig. 4 to 6, stacker mechanism 20 has at least one with two stacking robot 23a that irrespectively work each other, and the stacking robot of 23b (it is called the first stacking robot 23a and the second stacking robot 23b) is to 22.
In particular, Fig. 2 demonstrates, two stacking robot 23a, and 23b is configured to respectively multiaxis curved boom robot, exemplarily with the embodiment of seven axles this multiaxis curved boom robot is shown at this.In addition, two stacking robot 23a, 23b is arranged in load-carrying unit 24 places in the mode that hangs.Each stacking robot 23a, 23b has robot base 25, be supported with swingably at this robot base place can the first vertical axis of oscillation 26 swings in the use location moving cell 27, this moving cell 27 at first comprises the swing component 28 of base side, and this swing component 28 sits in robot base 25 places in the mode that can swing around the first vertical axis of oscillation 26.In addition, moving cell 27 comprises the bent over arms (Knickarm) that is formed by upper arm 29 and underarm 30.The upper arm 29 of bent over arms is sentenced the mode that can swing around the second axis of oscillation 31 of level in the use location and is connected with swing component 28 an end, and is connected with the end of facing of underarm 30 in the mode that can swing around the 3rd axis 32 of level on the other hand.
In addition, the rotating element 33 at the end place opposite with upper arm 29 that is arranged in underarm 30 belongs to moving cell 27, four axistyle 34 rotations that rotating element 33 can stretch on the longitudinal direction of underarm 30.The end place opposite with underarm 30 at rotating element 33 is furnished with swing element 35, and it is connected with rotating element 33 in the mode that can wind the 5th axis 36 that stretches transverse to four axistyle 34 and swing.The rotating element (not shown) that can wind the 6th axis 37 rotations that stretch transverse to the 5th axis 36 is attached to swing element 35 places, be fixed with load member 38 at the rotating element place, thereby load member 38 participates in rotatablely moving of rotating element.Preferably, load member 38 is loaded with the lifting mechanism 39 with vacuum aspirator (Vakuumsauger) 40.At this, take such layout, namely, load member 38 extends out from swing element 35 or from the rotating element that sits in this on the direction of the 6th axis 37, and lifting mechanism 39 comprises the holding device that keeps vacuum aspirator 40, and holding device is connected with load member 38 in the mode that can wind the 7th axis 41 rotations of pointing to transverse to the 6th axis 37.In addition, at reference paper EP 1 623 773 aspect other and more detailed details of the structure of the curved boom robot of this seven axles and motion process.
In addition, stacker mechanism 20 has linear guide mechanism 42 to be used for following also with two the stacking robot 23a of mode on even keel linear guide that describe, 23b.In addition, robot base 25 belongs to linear guide mechanism 42, and robot base 25 is implemented as slide block type and is directed at the guide rail place linearly, and guide rail self sits in rail module 43 places on the other hand.
On the other hand, rail module 43 is fixed on planer-type (portalartig) load carrier 24 places.Therefore, two stacking robot 23a, 23b have respectively at least one additional axis, that is, and and the axis that travels (Verfahrachse) on X and/or Y-direction.
As in particular shown in figure 2, stacking container 21 is positioned on the platform 44 in the mode of being close to delivery track 16, platform 44 is the part of traveling mechanism 45.In addition, traveling mechanism 45 comprises stacking container elevator 46, preferably via the breach in building floor the stacking container 21 that is mounted with parts 13 is travelled by this stacking container elevator 46 reduces an aspect (Stockwerk), changes this at this stacking container 21 of locating available unloaded afterwards and be mounted with the stacking container 21 of parts 13.In addition, stacker mechanism 20 has the instrument elevator 47 with a plurality of tool changings district (Tooling-Wechselplatz), the mode that the tool changing district can raise or reduce is as required sailed stacking robot 23a into, in the wobble area of 23b, the tool changing district of the instrument/utensil by being equipped with expectation crosses stacking robot 23a thus, and 23b can carry out tool changing.For example, this instrument is the lifting mechanism 39 with vacuum aspirator 40.At last, stacker mechanism 20 also comprises the camera chain 48 with one or more video cameras 49, and it points to delivery track 16 to be used for monitoring stacking process.
As equally shown in figure 2, stacking robot 23a, 23b is moveable in the stop position 50, and making freely in this stop position 50 becomes possibility near certain stacking container 21, thereby can manually parts be entered in the stacking container 21 from delivery track 16 heaps.
Fig. 3 and 4 has shown the first embodiment according to device 19 of the present invention.At this, arrange two respectively with two stacking robot 23a, the stacking robot of 23b is to 22, and stacking robot 23a, 23b are associated with one and another delivery track 16 along throughput direction on identical height.As especially shown in Figure 3, stacking robot is to 22 stacking robot 23a, and two robot base 25 of 23b relatively closely are positioned at together.Although Fig. 3 and 4 does not show at large that two right stacking robots of stacking robot are alternately worked.Therefore, pick up parts 13, the first stacking robot 23a that are associated by vacuum aspirator 40 and pick up the parts 13 that the betransported single-piece of the form of self-propelled vehicle sidewall (for example with) picking up 51 places, position.Synchronously, by another, the stacking robot that namely is associated with another load-transfer device also picks up parts 13 to the first stacking robot 23a of 22.With pick up parts 13 side by side by the first stacking robot 23a, the parts 13 that the second stacking robot 23b will have been picked up are put in the stacking container 21, that is, these parts are piled in the stacking container 21.And then, to be transported to stacking container 21 places by the parts 13 that the first stacking robot 23a picks up by means of the hunting motion around the first axis of oscillation 26, and simultaneously the second stacking robot 23b swings back (intermediary) around the first axis of oscillation 26 equally in the mode of unloaded.At last, to enter in the stacking container 21 by means of parts 13 heaps that the first stacking robot 23a picks up, its parts 13 heaps are entered wherein before the second stacking robot 23b, and while the second stacking robot 23b picks up new parts from delivery track 16 picking up 51 places, position.Also carry out concurrently these actions at the stacking robot of another load-transfer device 16 in to 22.Therefore, at these four stacking robot 23a altogether, 23b work can significantly improve stacking power with respect to traditional stacker mechanism thus.If treat jointly by two stacking robot 23a, the stacking container 21 that 23b loads is full, then stacking robot is to two stacking robot 23a of 22,23b moves to next stacking container 21 linearly along linear guide mechanism 42, and it has been arranged in holding fix when another stacking container 21 is loaded.This can be by stacking robot 23a when arranged in succession stacking container 21,23b at directions X mobile or when being arranged parallel to each other stacking container 21 stacking robot 23a, 23b realizes in that Y-direction is mobile.Afterwards, utilize stacking container elevator 46 to make the stacking container 21 that has loaded roll stacker mechanism 20 downwards away from, and replaced by the stacking container 21 of unloaded at this place.All these carried out in such moment, namely this constantly each stacking robot to two stacking robot 23a of 22, in the stacking container 21 after 23b has piled parts.Therefore, do not occur changing the standing time that causes by the stacking container at this.
Fig. 5 and 6 has shown the second embodiment according to device 19 of the present invention.With the first embodiment that has described differently, at this, stacking robot is double to 22 quantity, wherein, arranges respectively two stacking robots pair along common delivery track 16 on throughput direction.Each stacking robot is to 22 stacking robot 23a, and the mode of operation of 23b is identical with the first embodiment that describes before.Yet, with the first embodiment differently, by the stacking robot that on throughput direction, is at first arrived to 22 each second parts 13 of letting pass, thereby the stacking robots after these second parts, 13 final arrival to 22 places, it is piled at this place afterwards.Equally at this, stacking robot is to two stacking robot 23a of 22, and 23b enters parts 13 heaps in the common stacking container 21.
Claims (15)
1. one kind is used for stacking stackable parts (13), the device of blanked part in particular, this the device with: with the feed station (17) of at least one delivery track (16), the mode transport section (13) that on described delivery track (16), can separate; And at least one stacking container (21), parts (13) heap can be entered in the described stacking container (21), wherein, in order between described feed station (17) and described stacking container (21), to transport parts stacker mechanism (20) is set, this stacker mechanism is picked up parts and parts is piled in the described stacking container (21) from the delivery track (16) of described feed station (17), it is characterized in that, described stacker mechanism (20) has at least one and comprises two stacking robot (23a that irrespectively work each other, stacking robot 23b) is to (22), wherein, described stacking robot (23a, 23b) alternately or simultaneously pick up parts (13) and so control described stacking robot (23a by control mechanism (52) from described delivery track (16), 23b), namely, the first and/or second stacking robot (23a, 23b) pick up at least one parts (13) from described delivery track (16), and while the second and/or first stacking robot (23a, the parts (13) that 23b) will have been picked up are transported to by two stacking robots (23a, the stacking container (21) that 23b) uses is located or is piled into this stacking container (21) and locate, wherein, passing through the first and second stacking robot (23a, when 23b) picking up simultaneously parts (13), carrying out at two different places, stacking space simultaneously, heap enters in the common stacking container (21).
2. device according to claim 1, it is characterized in that, a plurality of stacking robots are set to (22), it is associated with respectively the special-purpose stacking container (21) that by corresponding stacking robot two stacking robots (23a, 23b) of (22) is jointly used when heap enters parts (13).
3. device according to claim 2 is characterized in that, described stacking robot is in series arranged along common delivery track (16) (22).
4. according to claim 2 or 3 described devices, it is characterized in that described stacking robot is distributed in parallel a plurality of of feed station (17) to (22) and is parallel on the delivery track (16) of arranging each other.
5. according to each described device in the aforementioned claim, it is characterized in that, described at least one stacking robot is associated with a plurality of stacking containers (21) to (22), at every turn fashionable by two the stacking robot (23as of described stacking robot to (22) at heap, 23b) only load in a plurality of stacking containers (21) one, and other stacking container (21) is arranged in holding fix in the mode of unloaded.
6. according to each described device in the aforementioned claim, it is characterized in that, described at least one stacking robot is to two stacking robot (23a of (22), 23b) be configured to respectively multiaxis curved boom robot, with at least four axiss of oscillation (26,31,32,34), wherein the first vertical axis of oscillation (26) makes the hunting motion that occurs between described delivery track (16) and described stacking container (21) become possibility.
7. according to each described device in the aforementioned claim, it is characterized in that, described stacker mechanism (20) has traveling mechanism (45) to be used for that described stacking container (21) is travelled between " loaded " position and replacing position, and described replacing position is used for being mounted with the stacking container (21) of piling the parts (13) that enter by stacking container (21) replacement of unloaded.
8. one kind is used for stacking stackable parts (13), the method for blanked part in particular, and the method is with following steps:
-transportation is placed in parts (13) at least one delivery track (16) in the mode of separating,
-by means of comprising two stacking robot (23a that irrespectively work each other, stacking robot 23b) is picked up parts (13) to (22) from described delivery track (16), wherein, the first stacking robot (23a) is picked up parts (13) from described delivery track (16), and parts (13) heap that will have been picked up by the second stacking robot (23b) of irrespectively working with the described first stacking robot (23a) simultaneously enters in the stacking container (21) or be transported to that described stacking container (21) is located or pick up at least another parts (13) from described delivery track (16), wherein, in described situation of transporting, this motion of transporting by means of the swing that comprises the described second stacking robot (23b) realizes
-by comprising the described first stacking robot, the motion of transporting of swing (23a) will be by the described first stacking machine, (23a) parts picked up of people, (13) be transported to described heap enter or the situation of transporting in by the described second stacking robot, the stacking container that (23b) uses, (21) locate, and while the described second stacking robot, another parts that (23b) will be picked up, (13) heap enters described stacking container, (21) return or be transported to described stacking container in or in the mode of unloaded, (21) locate
-will be entered in the described stacking container (21) by parts (13) heap that the described first stacking robot (23a) is picked up, and the described second stacking robot (23b) is picked up another parts from described delivery track (16) simultaneously, returns or described another parts (13) of being picked up are located heap in another stacking space to enter in the identical stacking container (21) that has been used in order to pile by the described first stacking robot (23a) in the mode of unloaded.
9. method according to claim 8 is characterized in that, is parallel to the upper transport section (13) of the delivery track (16) that stretches each other in the mode of separating at least two of described feed station (17).
10. according to claim 8 or 9 described methods, it is characterized in that, a plurality of stacking robots are set to (22), its respectively parts are piled into by described stacking robot in the common stacking container (21) that uses of two stacking robots (23a, 23b) of (22).
11. method according to claim 10, it is characterized in that, described stacking robot is in series arranged along common delivery track (16) (22), wherein, on throughput direction, the stacking robot that is at first arrived by parts (13) to (22) clearance parts with the stacking robot after being used for being arranged in to (22) pile into.
12. each described method according to claim 10 or in 11 is characterized in that, at least one of described stacking robot (23a, 23b) is with assigning a work of hanging.
13. each described method in 12 according to claim 10, it is characterized in that, two stacking robot (23a that stacking robot is associated to stacking container (22) and common (21), 23b) be moveable to respectively in the stop position (50), this stop position allows manually parts (13) heap to be entered in the described stacking container (21).
14. each described method in 13 according to claim 10, it is characterized in that, stacking robot is to two stacking robot (23a of (22), 23b) parts (13) heap is entered in the common stacking container (21) so for a long time, namely until it is taken, and afterwards parts (13) heaps is entered the next common stacking container (21) that is arranged in holding fix in the mode of sky.
15. method according to claim 14 is characterized in that, is changing to another common stacking container (21) when upper, stacking robot can travel linearly at least one of two stacking robots (23a, 23b) of (22).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP11005694.2A EP2546153B1 (en) | 2011-07-13 | 2011-07-13 | Device and method for stacking stackable pieces |
| EP11005694.2 | 2011-07-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102874433A true CN102874433A (en) | 2013-01-16 |
| CN102874433B CN102874433B (en) | 2016-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210242589.7A Active CN102874433B (en) | 2011-07-13 | 2012-07-13 | For stacking device and the method for stackable parts |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US20130017052A1 (en) |
| EP (1) | EP2546153B1 (en) |
| CN (1) | CN102874433B (en) |
| ES (1) | ES2553835T3 (en) |
| HU (1) | HUE027155T2 (en) |
| PL (1) | PL2546153T3 (en) |
| PT (1) | PT2546153E (en) |
| SI (1) | SI2546153T1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113537855A (en) * | 2020-04-15 | 2021-10-22 | 北京旷视机器人技术有限公司 | Scheduling method and device, warehousing system and storage medium |
| CN114435675A (en) * | 2020-11-04 | 2022-05-06 | 阿罗马系统有限公司 | Machine and method for arranging articles in an alternating manner along a single queue |
| CN114435675B (en) * | 2020-11-04 | 2024-05-03 | 阿罗马系统有限公司 | Machine and method for arranging articles in an alternating manner along a single line |
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| DE102012019839B4 (en) * | 2012-10-09 | 2017-08-24 | Grenzebach Maschinenbau Gmbh | Method and device for the transport of large-size plates in extreme oversize |
| JP5803887B2 (en) * | 2012-12-03 | 2015-11-04 | 株式会社安川電機 | robot |
| US11001400B2 (en) * | 2016-01-20 | 2021-05-11 | R.A Jones & Co. | Apparatus and methods for transferring continuously moving articles to continuously moving packages with intervening article grouping and group pitch adjustment |
| JP6599827B2 (en) * | 2016-08-29 | 2019-10-30 | ファナック株式会社 | Work removal system |
| DE102017115411B4 (en) | 2017-07-10 | 2019-05-02 | Strothmann Machines & Handling GmbH | Device for stacking or unstacking components |
| CN108609391A (en) * | 2018-07-25 | 2018-10-02 | 张彦晓 | One kind tearing stacking vacuum fixture, robot and de-stacking, palletizing method open |
| JP7145702B2 (en) * | 2018-09-07 | 2022-10-03 | 株式会社日立物流 | Robot system and its control method |
| CN115636133B (en) * | 2022-12-23 | 2023-02-28 | 山东华玺食品科技有限公司 | Automatic stacking and stacking equipment for canned meat processed food |
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2011
- 2011-07-13 SI SI201130680T patent/SI2546153T1/en unknown
- 2011-07-13 PL PL11005694T patent/PL2546153T3/en unknown
- 2011-07-13 PT PT110056942T patent/PT2546153E/en unknown
- 2011-07-13 HU HUE11005694A patent/HUE027155T2/en unknown
- 2011-07-13 ES ES11005694.2T patent/ES2553835T3/en active Active
- 2011-07-13 EP EP11005694.2A patent/EP2546153B1/en active Active
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2012
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| US20030118436A1 (en) * | 2001-12-25 | 2003-06-26 | Komatsu Ltd. | Work loading method for automatic palletizer, work loading method, work loading apparatus and attachment replacing method thereof |
| EP1647485A1 (en) * | 2004-10-15 | 2006-04-19 | Bema - S.r.l. | Machine for boxing objects in groups |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113537855A (en) * | 2020-04-15 | 2021-10-22 | 北京旷视机器人技术有限公司 | Scheduling method and device, warehousing system and storage medium |
| CN114435675A (en) * | 2020-11-04 | 2022-05-06 | 阿罗马系统有限公司 | Machine and method for arranging articles in an alternating manner along a single queue |
| CN114435675B (en) * | 2020-11-04 | 2024-05-03 | 阿罗马系统有限公司 | Machine and method for arranging articles in an alternating manner along a single line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102874433B (en) | 2016-08-24 |
| EP2546153B1 (en) | 2015-09-09 |
| PL2546153T3 (en) | 2016-03-31 |
| EP2546153A1 (en) | 2013-01-16 |
| SI2546153T1 (en) | 2016-01-29 |
| ES2553835T3 (en) | 2015-12-14 |
| PT2546153E (en) | 2016-01-07 |
| HUE027155T2 (en) | 2016-08-29 |
| US20130017052A1 (en) | 2013-01-17 |
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